Unmanned aerial vehicles (UAVs) are becoming increasingly popular as their capabilities such as autonomy, computing power, and payload weight increase. Thanks to their increased payload weight, UAVs can adopt a diverse sensor suite including Light Detection and Ranging (LiDAR) sensors, depth and multispectral cameras, GPS and ultra wideband (UWB) receivers, magnetometer modules, etc. All of these sensors provide important information for localization and stabilization of the UAV. Depending on where the UAV is deployed, reliable and consistent localization is an ongoing problem [1]}. In the context of fusing multiple measurements, different sensor combinations may prove more useful than others. In this paper, the focus is on indoor environments where GPS receivers cannot provide an accurate position lock and magnetometers report inconsistent measurements due to possible electromagnetic interference in the vicinity.
